A Grasping Force Optimization Algorithm for Multiarm Robots With Multifingered Hands

2013 ◽  
Vol 29 (1) ◽  
pp. 55-67 ◽  
Author(s):  
Vincenzo Lippiello ◽  
Bruno Siciliano ◽  
Luigi Villani
Keyword(s):  
Optimization Algorithm ◽  
Force Optimization ◽  
Multifingered Hands ◽  
Grasping Force

One Fast Fixture Layout and Clamping Force Optimization Method Based on Finite Element Method

2012 ◽  
Author(s):  
Zhihui Liu ◽  
Michael Yu Wang ◽  
Kedian Wang ◽  
Xuesong Mei ◽  
Guo Hua
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Optimization Algorithm ◽  
Computing Time ◽  
Optimization Method ◽  
Clamping Force ◽  
Optimal Method ◽  
Fixture Layout ◽  
Force Optimization ◽  
Element Method

Aimed to reduce the deformation of workpiece-fixture system, one fixture layout and clamping force optimal method is constructed in this paper. Firstly, system stiffness matrix is built by Finite Element Method (FEM), and one matrix size reducing method is proposed to avoid the high computing time cost of solving FEM balance equation. Secondly, one clamping force optimization method which should be called after fixture layout is generated during every step of optimization algorithm is presented to lessen calling times of FEM solving process and save running time. And then based on these, one fixture layout and clamping force optimization algorithm is constructed using genetic algorithm (GA). At the end of this paper, numeral examples are taken to verify the validity and usability of the methods.

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